Sparse Modal Decomposition Method Addressing Underdetermined Vortex-Induced Vibration Reconstruction Problem for Marine Risers

When investigating the vortex-induced vibration(VIV)of marine risers,extrapolating the dynamic response on the entire length based on limited sensor measurements is a crucial step in both laboratory experiments and fatigue monitoring of real risers.The problem is conventionally solved using the modal decomposition method,based on the principle that the response can be approximated by a weighted sum of limited vibration modes.However,the method is not valid when the problem is underdetermined,i.e.,the number of unknown mode weights is more than the number of known measurements.This study proposed a sparse modal decomposition method based on the compressed sensing theory and the Compressive Sampling Matching Pursuit(Co Sa MP)algorithm,exploiting the sparsity of VIV in the modal space.In the validation study based on high-order VIV experiment data,the proposed method successfully reconstructed the response using only seven acceleration measurements when the conventional methods failed.A primary advantage of the proposed method is that it offers a completely data-driven approach for the underdetermined VIV reconstruction problem,which is more favorable than existing model-dependent solutions for many practical applications such as riser structural health monitoring.

Vibration Control of A Flexible Marine Riser System Subject to Input Dead Zone and Extraneous Disturbances

An observer-based adaptive backstepping boundary control is proposed for vibration control of flexible offshore riser systems with unknown nonlinear input dead zone and uncertain environmental disturbances.The control algorithm can update the control law online through real-time data to make the controller adapt to the environment and improve the control precision.Specifically,based on the adaptive backstepping framework,virtual control laws and Lyapunov functions are designed for each subsystem.Three direction interference observers are designed to track the timevarying boundary disturbance.On this basis,the inverse of the dead zone and linear state transformation are used to compensate for the original system and eliminate the adverse effects of the dead zone.In addition,the stability of the closed-loop system is proven by Lyapunov stability theory.All the system states are bounded,and the vibration offset of the riser converges to a small area of the initial position.Finally,four examples of flexible marine risers are simulated in MATLAB to verify the effectiveness of the proposed controller.

Experimental Study on Vortex-Induced Vibration of Marine Riser Model with Coupling Interference Effect Under Combined Internal and External Flow

A partition model of interference efficiency was constructed to study the coupling interference effect under combined internal and external flow.The concept of“internal flow efficiency”,“velocity ratio”and“interference efficiency”were introduced to quantify the effect of internal flow and interference,and reveal the coupling mechanism among internal flow,external flow and interference effect.The results showed that the dynamic response of risers under variable angles was significantly different after considering the effect of internal flow.When the external flow velocity was smaller than 0.25 m/s,the vibration of risers was promoted by the internal flow.With the increase of external flow velocity,the effect of internal flow was weakened and the dynamic response of riser mainly depended on the external flow and interference effect.Under the effect of different internal flow,the interference efficiency had similar change trend.The interference effect amplified the complex secondary flow effect inside the riser,making the dynamic response of riser complex and random.In this paper,the overlap area and subdivision criterion of interference effect were constructed within the range of experimental velocity ratio,and the change curve of interference efficiency was obtained with an average meaning,which may have important practical meaning.

Reliability analysis of marine risers with narrow and long corrosion defects under combined loads

A marine riser,one of the most important components of offshore oil/gas transportation,needs to be designed to eliminate the risks caused by complex ocean environments,platform displacement and internal corrosion,etc.In this study,a new analytical-numerical assessment approach is proposed in order to quantitatively investigate the reliability of internally corroded risers under combined loads including axial tension and internal pressure.First,an analytical solution of the limit state function of intact risers under combined loads is obtained,which is further modified by the non-dimensional corrosion depth （d/ t） for the risers with a narrow and long corrosion defect.The relationship between d/t and limited internal pressure is obtained by finite element analysis and nonlinear regression.Through an advanced first-order reliability method （HL-RF） algorithm,reliability analysis is performed to obtain the failure probability,the reliability index and the sensitivity.These results are further verified by Monte-Carlo importance sampling.The proposed approach of reliability analysis provides an accurate and effective way to estimate the reliability of marine risers with narrow and long corrosion defects under combined loads.

Dynamic Characteristics of Marine Risers Conveying Fluid

The lateral vibration differential equation for a marine riser conveying fluid is derived by use of the small deflection theory, and the effect of internal flow velocity and top tension on the natural frequency of the riser is studied by use of FEM. At the same time, the preliminary relationship between the natural Frequency and riser span under different internal flow velocities is obtained, the effect of riser supports on the vibration frequency is computed. It is found that the natural frequency of the marine riser increases with the increase of top tension, however decreases with the increase of internal flow velocity. In addition, the Frequency decreases drastically with the increase of riser span.

The Effect of Internal Fluid on the Response of Vortex-Induced Vibration of Marine Risers

Based on Iwan′s wake oscillator model developed with the classical van der Pol equation, the differential equation for the response of the vortex-induced vibration (VIV) of the riser considering the effect of the internal flowing fluid and the external marine environmental condition is derived. The effect of the internal flowing fluid on the response of VIV of the riser is studied by means of the Finite Element Method. The results show that the effect of the internal fluid velocity on the VIV of the riser is strong when the natural frequency of the riser is close to the vortex shedding frequency. In addition, the increase of the top tension can decrease the sensitivity of the riser to the internal fluid velocity.

A Flexible-Segment-Model-Based Dynamics Calculation Method for Free Hanging Marine Risers in Re-Entry

In re-entry, the drilling riser hanging to the holding vessel takes on a free hanging state, waiting to be moved from the initial random position to the wellhead. For the re-entry, dynamics calculation is often done to predict the riser motion or evaluate the structural safety. A dynamics calculation method based on Flexible Segment Model （FSM） is proposed for free hanging marine risers. In FSM, a riser is discretized into a series of flexible segments. For each flexible segment, its deflection feature and external forces are analyzed independently. For the whole riser, the nonlinear governing equations are listed according to the moment equilibrium at nodes. For the solution of the nonlinear equations, a linearization iteration scheme is provided in the paper. Owing to its flexibility, each segment can match a long part of the riser body, which enables that good results can be obtained even with a small number of segments. Moreover, the linearization iteration scheme can avoid widely used Newton-Rapson iteration scheme in which the calculation stability is influenced by the initial points. The FSM-based dynamics calculation is timesaving and stable, so suitable for the shape prediction or real-time control of free hanging marine risers.

Combined Action of Uniform Flow and Oscillating Flow Around Marine Riser at Low Keulegan-Carpenter Number

With the increase of petroleum and gas production in deep ocean, marine risers of circular cylinder shape are widely used in the offshore oil and gas platform. In order to research the hydrodynamic performance of marine risers, the dynamic mesh technique and User-Defined Function(UDF) are used to simulate the circular cylinder motion. The motion of a transversely oscillating circular cylinder in combination of uniform flow and oscillating flow is simulated. The uniform flow and oscillating flow both are in x direction. SIMPLE algorithm is used to solve the Navier-Stokes equations. The User-Defined Function is used to control the cylinder transverse vibration and the inlet flow. The lift and drag coefficient changing with time and the map of vorticity isolines at different phase angle are obtained. Force time histories are shown for uniform flow at Reynolds number(Re) of 200 and for the combination of uniform and oscillating flows. With the increase of amplitude of oscillating flow in combined flow, the change of lift amplitude is not sensitive to the the change of cylinder oscillating frequency. Lift amplitude increases with the increase of oscillating flow amplitude in the combined flow, but there is no definite periodicity of the lift coefficient. The drag and inertia force coefficients change when the maximum velocity of the oscillating flow increases in the combined flow. The vortex shedding near the circular cylinder shows different characteristics.

Dynamic Behaviors of A Marine Riser Under Two Different Frequency Parametric Excitations

The marine risers are often subjected to parametric excitations from the fluctuation top tension. The top tension on the riser may fluctuate with multiple frequencies caused by irregular waves. In this paper, the influence between different frequency components in the top tension on the riser system is theoretically simulated and analyzed. With the Euler-Bernoulli beam theory, a dynamic model for the vibrations of the riser is established. The top tension is set as fluctuating with time and it has two different frequencies. The influences from the fluctuation amplitudes, circular frequencies and phase angles of these frequency components on the riser system are analyzed in detail. When these two frequencies are fluctuating in the stable regions, the riser system may become unstable because ω1+ω2≈2Ωn. The fluctuation amplitudes of these frequencies have little effect on the components of the vibration frequencies of the riser. For different phase angles, the stability and dynamic behaviors of the riser would be different.

Vector form Intrinsic Finite Element Method for the Two-Dimensional Analysis of Marine Risers with Large Deformations

Robust numerical models that describe the complex behaviors of risers are needed because these constitute dynamically sensitive systems. This paper presents a simple and efficient algorithm for the nonlinear static and dynamic analyses of marine risers. The proposed approach uses the vector form intrinsic finite element(VFIFE) method, which is based on vector mechanics theory and numerical calculation. In this method, the risers are described by a set of particles directly governed by Newton's second law and are connected by weightless elements that can only resist internal forces. The method does not require the integration of the stiffness matrix, nor does it need iterations to solve the governing equations. Due to these advantages, the method can easily increase or decrease the element and change the boundary conditions, thus representing an innovative concept of solving nonlinear behaviors, such as large deformation and large displacement. To prove the feasibility of the VFIFE method in the analysis of the risers, rigid and flexible risers belonging to two different categories of marine risers, which usually have differences in modeling and solving methods, are employed in the present study. In the analysis, the plane beam element is adopted in the simulation of interaction forces between the particles and the axial force, shear force, and bending moment are also considered. The results are compared with the conventional finite element method(FEM) and those reported in the related literature. The findings revealed that both the rigid and flexible risers could be modeled in a similar unified analysis model and that the VFIFE method is feasible for solving problems related to the complex behaviors of marine risers.

Damage Localization of Marine Risers Using Time Series of Vibration Signals

Based on dynamic response signals a damage detection algorithm is developed for marine risers. Damage detection methods based on numerous modal properties have encountered issues in the researches in offshore oil community. For example, significant increase in structure mass due to marine plant/animal growth and changes in modal properties by equipment noise are not the result of damage for riser structures. In an attempt to eliminate the need to determine modal parameters, a data-based method is developed. The implementation of the method requires that vibration data are first standardized to remove the influence of different loading conditions and the autoregressive moving average(ARMA) model is used to fit vibration response signals. In addition, a damage feature factor is introduced based on the autoregressive(AR) parameters. After that, the Euclidean distance between ARMA models is subtracted as a damage indicator for damage detection and localization and a top tensioned riser simulation model with different damage scenarios is analyzed using the proposed method with dynamic acceleration responses of a marine riser as sensor data. Finally, the influence of measured noise is analyzed. According to the damage localization results, the proposed method provides accurate damage locations of risers and is robust to overcome noise effect.

Parametric Stability Analysis of Marine Risers with Multiphase Internal Flows Considering Hydrate Phase Transitions

This study investigates the effects of multiphase internal flows that consider hydrate phase transitions on the parametric stability of marine risers.A numerical model of the multiphase internal flow that considers a hydrate phase transition is established.The model first solves the flow parameters and subsequently obtains the natural frequencies of risers with different gas intake ratios.The stability charts of marine risers with different gas intake ratios are plotted by applying Floquet theory,and the effects of the gas intake ratio on the instability and vibration response of the risers are identified.The natural frequency increases with an increase in the gas intake ratio;thus,instability zones move to higher frequency ranges in the stability charts.As the increasing gas intake ratio reduces the damping effect of the Coriolis force,the critical amplitude of the heave in the unstable region decreases,especially when hydrodynamic damping is not considered.As a result,higher-order unstable regions are excited.When in an unstable region,the vibration response curve of a riser with a high gas intake ratio excited by parametric resonance diverges quickly due to parametric resonance.

Boundary Control of Coupled Nonlinear Three Dimensional Marine Risers

This paper presents a design of boundary controllers implemented at the top end for global stabilization of a marine riser in a three dimensional space under environmental loadings. Based on the energy approach, nonlinear partial differential equations of motion, including bending-bending and longitudinal-bending couplings for the risers are derived. The couplings cause mutual effects between the three independent directions in the riser＇s motions, and make it difficult to minimize its vibrations. The Lyapunov direct method is employed to design the boundary controller. It is shown that the proposed boundary controllers can effectively reduce the riser＇s vibration. Stability analysis of the closed-loop system is performed using the Lyapunov direct method. Numerical simulations illustrate the results.

PARAMETRIC STUDIES ON THE STATIC BEHAVIOUR OF MARINE RISER

The behaviour of marine risers is investigated under the forces produced by selfweight, wave and current and quasistatic motion of the top vessel. The parameters include the applied tension, geometric nonlinearity, magnitude of surge, heave and pitch motion of the top vessel and wave height. The study shows that the above parameters have considerable influence on the riser response.

Experimental Study on Vortex-Induced Vibration of Rough Risers with Coupling Interference Effect Under Side-by-Side Arrangement

A vortex-induced vibration(VIV)experiment of rough risers with coupling interference effect under a side-by-side arrangement was carried out in a wave-current combined flume.The roughness of the riser was characterized by arranging different specifications of surface attachments on the surface of the riser.Rough risers with three different roughnesses were arranged side by side with smooth risers to explore the VIV response of the riser under the combined action of roughness and interference effect,and to reveal the coupling mechanism between roughness and interference effect.The experimental results show that,compared with that of a smooth riser,the VIV of a rough riser under the coupling interference effect has a wider"lock-in"region,and the displacement decreases more significantly at a high reduced velocity,which is more likely to excite higher-order modes and frequency responses.In addition,the displacement response and frequency response of the smooth riser are not significantly affected by wake interference from the rough riser,which is caused by the decrease of the wake region due to the delay of the boundary layer separation point of the rough riser.

Experimental Study on Vortex-Induced Vibration of Rough Risers Coupling with Interference Effect in Tandem Arrangement

In order to study the response law of vortex-induced vibration(VIV)of marine risers under the combined action of roughness and interference effects,and to reveal the coupling mechanism of roughness and interference effects on the riser,a VIV experiment of rough risers in tandem arrangement was conducted in a wave−current combined flume.The experiment characterized the risers’roughness by arranging different specifications of attachments on the surface of the risers.Three rough risers with different roughness and smooth risers were arranged in tandem arrangement,with the rough risers arranged downstream.The experimental results indicate that the suppression of the attachments on the downstream risers’vibration are more significant both in the CF and IL directions as the reduced velocity increases.For the downstream riser,the amplitude response of rough riser is more significantly weakened compared with the smooth one at high reduced velocity.For the upstream risers,changes in the roughness and spacing ratio have an impact on their‘lock-in’region.When the roughness of downstream risers is relatively large(0.1300)and the spacing between risers is small(S/D=4.0),the reduced velocity range of‘lock-in’region in the CF direction of upstream risers is obviously expanded,and the displacement in the‘lock-in’region is severer.

Modeling and boundary control of a flexible marine riser coupled with internal fluid dynamics

In this paper, vibration reduction of a flexible marine riser with time-varying internal fluid is studied by using boundary control method and Lyapunov＇s direct method. To achieve more accurate and practical riser＇s dynamic behavior, the model of marine riser with time-varying internal fluid is modeled by a distributed parameter system （DPS） with partial differential equations （PDEs） and ordinary differential equations （ODEs） involving functions of space and time. The dynamic responses of riser are completely different if the time-varying internal fluid is considered. Boundary control is designed at the top boundary of the riser based on original infinite dimensionality PDEs model and Lyapunov＇s direct method to reduce the riser＇s vibrations. The uniform boundedness and closed-loop stability are proved based on the proposed boundary control. Simulation results verify the effectiveness of the proposed boundary control.

Adaptive neural network based boundary control of a flexible marine riser system with output constraints

In this study,we develop an adaptive neural network based boundary control method for a flexible marine riser system with unknown nonlinear disturbances and output constraints to suppress vibrations.We begin with describing the dynamic behavior of the riser system using a distributed parameter system with partial differential equations.To compensate for the effect of nonlinear disturbances,we construct a neural network based boundary controller using a radial basis neural network to reduce vibrations.Under the proposed boundary controller,the state of the riser is guaranteed to be uniformly bounded based on the Lyapunov method.The proposed methodology provides a way to integrate neural networks into boundary control for other flexible robotic manipulator systems.Finally,numerical simulations are given to demonstrate the effectiveness of the proposed control method.

Deep-water Riser Fatigue Monitoring Systems Based on Acoustic Telemetry

Marine risers play a key role in the deep and ultra-deep water oil and gas production. The vortex-induced vibration （VIV） of marine risers constitutes an important problem in deep water oil exploration and production. VIV will result in high rates of structural failure of marine riser due to fatigue damage accumulation and diminishes the riser fatigue life. In-service monitoring or full scale testing is essential to improve our understanding of V1V response and enhance our ability to predict fatigue damage. One ma- rine riser fatigue acoustic telemetry scheme is proposed and an engineering prototype machine has been developed to monitor deep and ultra-deep water risers＇ fatigue and failure that can diminish the riser fatigue life and lead to economic losses and eco-catastrophe. Many breakthroughs and innovation have been achieved in the process of developing an engineering prototype machine. Sea trials were done on the 6th generation deep-water drilling platform HYSY-981 in the South China Sea. The inclination monitoring results show that the marine riser fatigue acoustic telemetry scheme is feasible and reliable and the engineering prototype machine meets the design criterion and can match the requirements of deep and ultra-deep water riser fatigue monitoring. The rich experience and field data gained in the sea trial which provide much technical support for optimization in the engineering prototype machine in the future.

Laboratory Measurements of Vortex- and Wake-Induced Vibrations of A Tandem Arrangement of Two Flexible Risers

The dynamic response of two flexible model risers in tandem arrangement immersed in a stepped current was analyzed. The risers, with an external diameter of 20 mm and a total length of 6200 mm, had an aspect ratio of 310. They were hinged to the support structure at the center-to-center distances away 3-12 times the external diameter. The top 1200 mm was exposed to a uniform current at a speed which was up to 0.9 m/s（the Reynolds number was 18000） and the rest in still water. The dynamic responses, which were obtained through the Fiber Bragg Grating strain gauges mounted on the surface, were analyzed by studying the cross-flow amplitudes and modal weights. The cross-flow vibration were observed up to the third mode, and the modal transformation from the second mode to the third mode was clearly observed. The experiment confirmed that the typical vortex-induced vibration（VIV） had occurred on the up-stream riser. But for the down-stream riser, the main excitation mechanism was wake-induced vibration（WIV）. The modal transformation of WIV was more complex than that of VIV, which might be helpful for other researchers to study the interference effect.